#include <mc_rbdyn/RobotFrame.h>

Inheritance diagram for mc_rbdyn::RobotFrame:

Collaboration diagram for mc_rbdyn::RobotFrame:

Classes
struct	NewRobotFrameToken

Public Member Functions
	RobotFrame (NewRobotFrameToken, const std::string &name, Robot &robot, const std::string &body)

	RobotFrame (NewRobotFrameToken, const std::string &name, RobotFrame &parent, sva::PTransformd X_p_f, bool baked)

const Robot &	robot () const noexcept

Robot &	robot () noexcept

unsigned int	bodyMbcIndex () const noexcept

const std::string &	body () const noexcept

sva::PTransformd	position () const noexcept final

sva::MotionVecd	velocity () const noexcept final

const sva::PTransformd &	X_p_f () const noexcept

sva::PTransformd	X_b_f () const noexcept

RobotFrame &	X_p_f (sva::PTransformd pt) noexcept

bool	hasForceSensor () const noexcept

const ForceSensor &	forceSensor () const

sva::ForceVecd	wrench () const

Eigen::Vector2d	cop (double min_pressure=0.5) const

Eigen::Vector3d	copW (double min_pressure=0.5) const

RobotFramePtr	makeFrame (const std::string &name, const sva::PTransformd &X_p_f, bool baked=false)

mc_tvm::RobotFrame &	tvm_frame () const

Public Member Functions inherited from mc_rtc::shared< RobotFrame, Frame >
	operator std::shared_ptr< RobotFrame > ()

	operator std::shared_ptr< const RobotFrame > () const

Protected Member Functions
void	init_tvm_frame () const final

void	resetForceSensor () noexcept

Protected Attributes
Robot &	robot_

unsigned int	bodyMbcIdx_

const ForceSensor *	sensor_ = nullptr

Friends
struct	Robot

Additional Inherited Members
Public Types inherited from mc_rtc::shared< RobotFrame, Frame >
using	ActualBase = typename std::conditional< std::is_same< Frame, void >::value, std::enable_shared_from_this< RobotFrame >, Frame >::type

Detailed Description

A frame that belongs to a Robot instance

The frame quantities are deduced from the robot's state

Every RobotFrame has either an explicit parent RobotFrame or an implicit parent (the robot's body it is attached to). Hence setting its position via the Frame interface only sets relative position and settings its velocity through the same interface never has any effect.

Constructor & Destructor Documentation

◆ RobotFrame() [1/2]

mc_rbdyn::RobotFrame::RobotFrame	(	NewRobotFrameToken	,
		const std::string &	name,
		Robot &	robot,
		const std::string &	body
	)

Constructor

Creates a frame attached to the given body

Parameters

name	Name of the new frame
robot	Robot to which the frame is attached
body	Parent body of the frame

Exceptions

If	`body` does not belong to `robot`

◆ RobotFrame() [2/2]

mc_rbdyn::RobotFrame::RobotFrame	(	NewRobotFrameToken	,
		const std::string &	name,
		RobotFrame &	parent,
		sva::PTransformd	X_p_f,
		bool	baked
	)

Constructor

Creates a frame attached to the given frame

Parameters

name	Name of the new frame
frame	Parent frame
X_p_f	Transform from parent to the new frame
baked	If true, attach the newly created frame to the parent body of the provided frame rather than the frame itself

Member Function Documentation

◆ body()

const std::string& mc_rbdyn::RobotFrame::body ( ) const

noexcept

The body this frame is attached to

◆ bodyMbcIndex()

unsigned int mc_rbdyn::RobotFrame::bodyMbcIndex ( ) const

inlinenoexcept

Returns this frame body index in robot's mbc

◆ cop()

Eigen::Vector2d mc_rbdyn::RobotFrame::cop ( double min_pressure = 0.5 ) const

Compute the CoP in frame coordinates from gravity free measurements

Parameters

min_pressure Minimum pressure in N (default: 0.5N)

Returns: Measured CoP in frame coordinates if pressure >= min_pressure, zero otherwise

Exceptions

if	hasForceSensor() is false

◆ copW()

Eigen::Vector3d mc_rbdyn::RobotFrame::copW ( double min_pressure = 0.5 ) const

Compute the CoP in inertial frame from gravity free measurements

Parameters

min_pressure Minimum pressure in N (default: 0.5N)

Returns: Measured CoP in inertial frame if pressure >= min_pressure, zero otherwise

Exceptions

if	hasForceSensor() is false

◆ forceSensor()

const ForceSensor& mc_rbdyn::RobotFrame::forceSensor ( ) const

Returns the force sensor attached to the frame (const)

Exceptions

if	hasForceSensor() is false

◆ hasForceSensor()

bool mc_rbdyn::RobotFrame::hasForceSensor ( ) const

inlinenoexcept

True if the frame has a force sensor (direct or indirect) attached

◆ init_tvm_frame()

void mc_rbdyn::RobotFrame::init_tvm_frame ( ) const

finalprotected

◆ makeFrame()

RobotFramePtr mc_rbdyn::RobotFrame::makeFrame	(	const std::string &	name,
		const sva::PTransformd &	X_p_f,
		bool	baked = `false`
	)

Create a frame whose parent is this frame

Parameters

name	Name of the new frame
X_p_f	Transformation from this frame to the newly created frame
baked	Attach the newly created frame to the parent body of this frame rather than the frame

◆ position()

sva::PTransformd mc_rbdyn::RobotFrame::position ( ) const

finalnoexcept

Computes the frame position

◆ resetForceSensor()

void mc_rbdyn::RobotFrame::resetForceSensor ( )

protectednoexcept

Search for a force sensor inside Robot again

◆ robot() [1/2]

const Robot& mc_rbdyn::RobotFrame::robot ( ) const

inlinenoexcept

The robot to which this frame belongs (const)

◆ robot() [2/2]

Robot& mc_rbdyn::RobotFrame::robot ( )

inlinenoexcept

The robot to which this frame belongs

◆ tvm_frame()

mc_tvm::RobotFrame& mc_rbdyn::RobotFrame::tvm_frame ( ) const

inline

Access the associated TVM frame

FIXME Make sure this reinterpret_cast is formally OK, otherwise abandon the inline

◆ velocity()

sva::MotionVecd mc_rbdyn::RobotFrame::velocity ( ) const

finalnoexcept

Computes the frame velocity

◆ wrench()

sva::ForceVecd mc_rbdyn::RobotFrame::wrench ( ) const

Returns the force sensor gravity-free wrench in this frame

Exceptions

if	hasForceSensor() is false

◆ X_b_f()

sva::PTransformd mc_rbdyn::RobotFrame::X_b_f ( ) const

noexcept

Compute the transformation from the body to this frame

◆ X_p_f() [1/2]

const sva::PTransformd& mc_rbdyn::RobotFrame::X_p_f ( ) const

inlinenoexcept

Returns the transformation from the parent's frame/body to the frame

◆ X_p_f() [2/2]

RobotFrame& mc_rbdyn::RobotFrame::X_p_f ( sva::PTransformd pt )

inlinenoexcept

Set the transformation from the parent's frame/body to this frame

Note: This impacts children frame; It is technically possible to change body frames origin this way but it will create a discrepency between the data in MultiBodyConfig and the data in the frame

Friends And Related Function Documentation

◆ Robot

friend struct Robot

friend

Member Data Documentation

◆ bodyMbcIdx_

unsigned int mc_rbdyn::RobotFrame::bodyMbcIdx_

protected

Parent's body index in the robot's configuration

◆ robot_

Robot& mc_rbdyn::RobotFrame::robot_

protected

Robot instance this frame belongs to

◆ sensor_

const ForceSensor* mc_rbdyn::RobotFrame::sensor_ = nullptr

protected

Force sensor attached (directly or indirectly) to this frame, nullptr if none

The documentation for this struct was generated from the following file:

include/mc_rbdyn/RobotFrame.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RobotFrame() [1/2]

◆ RobotFrame() [2/2]

Member Function Documentation

◆ body()

◆ bodyMbcIndex()

◆ cop()

◆ copW()

◆ forceSensor()

◆ hasForceSensor()

◆ init_tvm_frame()

◆ makeFrame()

◆ position()

◆ resetForceSensor()

◆ robot() [1/2]

◆ robot() [2/2]

◆ tvm_frame()

◆ velocity()

◆ wrench()

◆ X_b_f()

◆ X_p_f() [1/2]

◆ X_p_f() [2/2]

Friends And Related Function Documentation

◆ Robot

Member Data Documentation

◆ bodyMbcIdx_

◆ robot_

◆ sensor_